CN101065745B

CN101065745B - Wig making method

Info

Publication number: CN101065745B
Application number: CN2005800405134A
Authority: CN
Inventors: 菲利普·L·吉尔登伯格
Original assignee: Individual
Current assignee: Individual
Priority date: 2004-10-22
Filing date: 2005-10-24
Publication date: 2010-05-05
Anticipated expiration: 2025-10-24
Also published as: RU2007118953A; JP2008518114A; EP1805654A4; CN101065745A; WO2006047542A3; JP5124278B2; DE602005020825D1; EP1805654A2; ATE465455T1; KR20070073922A; EP1805654B1; WO2006047542A2; AU2005299447A1

Abstract

The invention of the present disclosure includes methods for constructing wigs wherein an at least one effector attached to a robotic arm of a robot is positioned proximate to a wig cap; and the effector is then operated to fixedly attach an at least one hair to the wig cap.

Description

The method of wig construction

The cross reference of related application

The application requires to enjoy the U.S. Provisional Application No.60/621 of application on October 22nd, 2004,586 right of priority.

Background technology

Wig is to have on the artificial headgear that makes the people change appearance.Masculinity and femininity is periwigged equally, and is used for many different application.On history, noble, imperial family and high rank official periwig traditionally and signify their social status.Today, it is thinning or come off in order to cover up hair to periwig often.For example, cancer patient is often covered up owing to chemotherapy causes the hair that comes off with wig.Wig also has the purposes that is used for changing performer and performing artist's appearance in entertainment environment.In a word, wig uses and uses along with the different of at that time fashion and moulding and change.

Wig construction is foundation or the lining cap from adhering to real or synthetic hair usually.After this, lining cap, wig cap and foundation are used for making a general reference the substrate or the bearing structure of wig interchangeably.The characteristic of lining cap such as size, shape, composition, can change according to concrete application.For example, wig cap can be hand-made or machine-processed, is made up of minnow net or individual fiber materials.In one embodiment, the lining cap is made up of translucent individual fiber materials, can appear the natural beige of scalp after putting on.In addition, can also add other materials on the lining cap, such as Dermafix, this material helps to make the lining cap to be adjacent to scalp when being subjected to the body temperature heating.

Briefly, wig is worked out by hair being attached on the lining cap.Hair can mate final user's needs and be attached to selectively the lining cap on, for example cover up thinning or baldness the zone, bring desirable entertainment effect etc.The characteristic of hair such as quality, quality, color, length, can change according to the concrete application or the establishment technique of wig.In addition, hair can comprise that the people sends out, synthon or animal hair.

Available wig has usually common, semi-custom and this wig of three types customization.Common wig (stock wig) normally machine is manufactured, and needn't or use specially design for concrete individual.Like this, the common cost of common wig is more cheap, regrettably often in the looks of wig with significant sacrifice is arranged qualitatively.In addition, owing to common wig seldom even is not being made under the input data conditions from the final user, so these wigs tend to be recognized by the people when wearing.In an example, common wig is worked out with book sewing machine, and hair is attached on " weft yarn (weft) " as long cotton rope.In case after hair is sewn on the weft yarn, just it is twined round the lining cap, and is attached on the lining cap.

The wig of semi-custom and customization can provide more natural outward appearance when wearing.Below, refer to wig with the wig of semi-custom and customization interchangeably by concrete application, customer group or individual subscriber establishment.Wig for customization is used for the lining cap of wig construction and the various characteristics of hair, such as position, color, quality, length etc., can abide by user's the customization that needs, with concrete application or individual's coupling.

Regrettably, wig construction is dry as dust, time-consuming, effort, therefore also is expensive process.Particularly for the customization wig establishment especially like this.For example, when establishment customization wig, the lining cap normally customizes, and is fit to certain concrete individual's scalp.This often relates to scalp and the head of measuring the individual, and makes lining cap end and individual's hair line coupling.Also consider the desirable overlay area that wig will provide.For example, under the situation of part baldness, the lining cap can be compiled into the part that only covers baldness on the individual scalp.Under the situation of complete baldness, perhaps from the demand of beauty treatment angle, the lining cap can be designed to cover individual's whole scalp.

In case with acceptable setting state the specification of lining cap, just can come wig construction by hair being attached to the desired location that serves as a contrast on the cap.With artificial labour-intensive process one by one hair is attached on the lining cap.Wig manufacturer is called row's wig (ventilating a wing) with this process.With pin every hair is passed the lining cap, around itself with the anti-lining cap that passes of knotting mode.This used process is similar to used " latch needles pinhock (latch the hook) " technology of carpet of pricking.Typical wig may need this process 30,000 to 40,000 times repeatedly.In addition, finish the artificial process of pricking wig and spend 40 to 60 hours usually.

Therefore, need a kind of system and method that reduce repetitive manual steps used during the wig construction.The present invention be intended to overcome or reduce at least more than the influence of one or more problems of being proposed.

Summary of the invention

The method that the present invention includes a kind of wig construction disclosed herein, this method comprises: will be attached at least one executive item on the robots arm of robot locate contiguous wig lining cap; And the operation executive item, at least one hair is fixedly attached on the wig lining cap.

Some other embodiment of the present invention comprise a kind of method of wig construction, and this method comprises: determine and the three-dimensional position of registration wig lining cap with respect at least one executive item on the robots arm who is connected to robot with the ROBOT CONTROL device; By this executive item of controller function, from searching at least one hair for sending out the district; And will be from being fixedly attached on the wig lining cap by the robot controller appointed positions for sending out this at least one hair of searching in the district.

Another embodiment of the present invention is a kind of method of wig construction, and this method comprises: with the three-dimensional position of ROBOT CONTROL device registration wig lining cap with respect at least one executive item on the robots arm who is connected to robot; At least one fiducial mark (fiduciary marker) that is marked on the model is carried out colocated with some positions on the wig lining cap; The operation executive item is from searching at least one hair for sending out the district; And the operation executive item, will be from be fixedly attached to a position on the wig lining cap for this at least one hair that the district searches, this position is positioned at by the recent appointed positions of its distance to the position of the colocated of this at least one fiducial mark.

Description of drawings

Fig. 1 illustrates the synoptic diagram of an embodiment of the application's wig construction method.

Embodiment

Current, robot has been used for many different industries makes various process automations.Many different suppliers, such as ABB AB, group of KUKA robot, CTA automatic technique, Fanuc Robotics, the control technology that various robots is provided and has been followed.Usually, robot and manufacture process integrator are used for exempting or eliminate the needs to people's intervention.In such environment, robot has generally improved the speed of manufacture process and has reduced the production cost of finished product (for example, labor cost).Adopt the present invention, can dispose and use robot, to reduce or the common repetitive manual operation related of elimination with wig construction.

Robot has many different configurations.For example, robot can be furnished with the peripherals of one or more robots arms, mechanical attachment and/or other types.In great majority were used, robot used at least one robots arm, disposed one on the robots arm and was attached to robots arm's top or near the executive item the top, to carry out desirable task or function.For example, the robot that printed circuit board (PCB) manufacturing plant uses the robots arm with band executive item to be searching semi-conductor chip, and it is arranged on the printed circuit board (PCB).In this case, executive item normally can grasp and discharge the aspirating mechanism of chip.

The present invention is not limited to any concrete robot or configuration.On the contrary, can reduce or eliminate the repetitive manual operation related with multiple different robot configuration with an amount of intelligence with to the control ability of arm with wig construction.A kind of such robot configuration for example can be referring to U.S. Patent No. 6,585,746, and the content of this patent all is listed as for referencial use being quoted at this.

According to the present invention, robot 1 as shown in Figure 1 is configured to make it to serve as a contrast cap 2 reciprocations with wig in a controlled manner, so that selectively and exactly hair is placed on desirable position.In one exemplary embodiment, lining cap 2 is placed in the known three dimensions of relative robot 1.Those skilled in the art can see, can make robot and/or one or more robots arm serve as a contrast the cap orientation relatively with many different videos or other registration technology (registration technique).For example, the lining hat holder can be held frame 3,, locate in the three dimensions known with being configured in relative robot 1 such as column or other suitable members.Be placed on the lining hat holder and hold on the frame 3 by serving as a contrast cap 2, lining cap 2 just relatively robots 1 in the space, obtain orientation.

Depend on concrete application, can with general connector 4 or similarly device be configured to can be crew-served with robot 1.General connector 4 has been simplified the positioning action that a plurality of different lining hat holders are held frame 3 relative robot 1 in three dimensions.For example, a plurality of lining hat holders hold in the frame 3 each can be attached on the general connector 4 and relative robot 1 location in three dimensions in advance.In this example, these a plurality of lining hat holders are held frame 3 sizes, shape etc. and can be had nothing in common with each other, and can select the lining hat holder that size and shape and concrete lining cap 2 are mated the most to hold frame 3.If obtain orientation in advance, just can select a specific lining hat holder to hold frame 3, it is received on the general connector 4, and its orientation arrangement of being stored is used the ROBOT CONTROL system and is called.In general, general connector 4 can be that any assistance will serve as a contrast hat holder and hold frame 3 and repeat to be placed on relative robot 1 substantially the same locational device, carriage, software or wireless program annex.

Cooperate the present invention also can use the lining hat holder of customization to hold frame 3.In one exemplary embodiment, the lining hat holder of customization hold frame 3 can be according to final user's the head and/or the scanning of scalp are made.The data that collect in scan period can be used for customizing size, shape and other characteristics that the lining hat holder is held frame 3.What should see is to gather this data with some different scanning techniques.A kind of such technology for example can be referring to U.S. Patent No. 6,585,746.In this example, under the cooperation of one or more video cameras, shine upon the position of being concerned about with a video system.Can also use stadimeter to come measuring distance.The data that collect in scan period can comprise thinning position, the concrete condition of hair line, the color of hair, density, the thickness of shape and size, hair of final user's head and scalp, perhaps can adopt stereoscopic vision to rebuild the shape and size of head in the Virtual Space.Can be handled these data then, and the lining hat holder that is used for making customization is held frame 3.In addition, as following will the explanation, these data can also be used to custom wig construction process.

Can operate and control robot 1 with any amount of different control system.In one exemplary embodiment, the robot computerized control system of 1 usefulness is operated, this computerized control system can with one or more focus on be concerned about the video camera co-operating in zone, this institute is concerned about the regional executive item 5 that for example comprises on the robots arm 7 who receives robot 1.As following will the explanation, executive item 5 can comprise can be used to one of clamping or a thread hair and with the robot mode with this hair be attached to hook 6, pin or any other mechanical devices of lining on the cap 2 at least one of them.In addition, but executive item 5 can also comprise a series of can exchange automatically and co-operating is used in the robot mode hair being attached to the mechanical devices array of lining on the cap 2.

Utilize the solid of many video cameras, vertical or other configurations, control system can determine that executive item 5 serves as a contrast the specific position of being concerned about on the cap 2 with respect to wig in three dimensions. for example, in one exemplary embodiment, two video cameras can top attached to a robots arm of robot 7 near, if and the visual field of these two video cameras is configured to executive item 5 overlapping. two video cameras are with respect to the location aware of executive item 5, control system just can be configured to use conventional location technology, such as triangulation, calculate the space orientation of executive item 5 in three dimensions.

In another embodiment, stadimeter 8 and video camera 9 can top attached to the robots arm 7 of robot near, and the visual field of video camera 9 is configured to executive item 5 overlapping.As explained above like that, if stadimeter 8 and video camera 9 with respect to the location aware of executive item 5, control system just can be configured to conventional location technology calculate the space of executive item 5 in three dimensions towards.As known in this technical field, the distance that stadimeter 8 can the near concrete zone of being concerned about sends control system to.Adopt this configuration, control system can with video camera 9 and stadimeter 8 co-operatings, to determine executive item 5 position with respect to the concrete point of being concerned about on the wig lining cap 2 in three dimensions.

Control system can comprise display system 10, such as display screen or monitor 11, so that carry out visual reciprocation with robot operator.For example, before wig construction, can show and present the realtime graphic 12 that serves as a contrast cap 2 to robot operator.In order to absorb the realtime graphic 12 of lining cap 2, the video camera of any amount can be focused on the lining cap 2.These video cameras can comprise the video camera at least one robots arm's 7 who receives robot that additional video camera and/or front the are illustrated top.Can use multiple different technology to use the real time video image 12 that is absorbed to control and custom wig construction process.Data are can be by the operator visual or directly used by robot 1, to instruct this operation.

In one exemplary embodiment, shown real time video image 12 and front can be used for that lining cap 2 and/or lining hat holder are held frame 3 directed data in three dimensions visually overlaps.For example, in case suitably locate, the image that the lining hat holder can be held frame 3 is stored in the computerized control system in the electronics mode.Can call the lining hat holder and hold the image of frame 3, it is overlapping with the real time video image 12 of lining cap 2.For example, image can be wire frame structure or iso-surface patch.In one embodiment, distinguishable as more to know in order to make these two images, the image electricity consumption submode that the lining hat holder is held frame 3 is formatted into the three-dimensional wireframe structural images on the real time video image 12 of the lining cap 2 that is added to.

In another more meticulous alternative embodiment, control system can be configured to accept some identification points of being concerned about on the real time video image 12.These data can be obtained automatically by the input of robot operator interactivity ground or by control system.In one exemplary embodiment, can on the position of selecting round lining cap 2, some credible marks 13 be set.These points of being concerned about can be complementary with respect to the data of robot 1 orientation in three dimensions to lining cap 2 with previous being used for of storing.Use real-time mapping algorithm and/or in this technical field known to data processing technique, the realtime graphic 12 of lining cap 2 can be decomposed into the three dimensions known to the robot 1.

By visually with the control system reciprocation, robot operator can customized production have the wig construction processes of the wig of desirable characteristics.For example,, for example be positioned at the lining hat holder and hold on the frame 3, on display system 10, just can show the image that serves as a contrast cap 2 in case lining cap 2 is positioned for establishment.As described, can call the directional images before stored and it is overlapping with realtime graphic 12, perhaps can be with allowing direct and realtime graphic 12 interactive directional datas shine upon realtime graphic 12.As additional input, the operator can call previously stored final user's the scalp and/or the image of head.Such as previously described, scanning final user's scalp and/or head can produce such image.The operator can call these data in order to help to be convenient to custom wig construction process.

Robot operator can with display system 10 reciprocations, with control and custom wig construction process.For example, robot operator can be with light pen or other data input devices and control system reciprocation, and need to select the multiple different variable characteristic of the wig made.For example, the operator can to select desirable hair location be overlay area, hair color, density, quality, direction, thickness etc.The operator can select to mix some color, some regional hair density of gradual change, color, hair direction, or the like.As a practical problems, should see that control system and software thereof can be configured in fact can change and carry out in the mode of robot any variable factor of considering during traditional wig construction.

In another embodiment, robot operator can by with the lining cap 2 physically reciprocation control and custom wig construction process. that is to say, robot operator can by physically with lining cap 2 reciprocations with scanning machine device people control system. for example, use at the data input device 14 of three dimensions with respect to robot 1 orientation, such as wand, light pen, marker and so on, robot operator can with lining cap 2 reciprocations, the zone of being concerned about with mark or carry out other data input functions. data input device can be wireless or wired, this depends on concrete application. this approach makes robot operator can more directly participate in the customization of wig, and is more familiar and comfortable process for the operator.

In another exemplary embodiment, the operator can with carry out reciprocation such as the such model of head model, this model can be cooperated with control system, with the customization and control wig construction processes.This model can be configured and orientation with respect to robot 1 in three dimensions by holding frame 3 similar modes with the lining hat holder.In addition, model can be arranged to the identification point that makes on the model and hold identification point on frame 3 or the wig lining cap 2 corresponding to the lining hat holder.Use such as light pen, give directions the data input device 14 the device, the operator can with the model reciprocation, with custom wig construction process.Model can be general head model, and it can be recycled and reused for a plurality of wig construction processes.As an alternative, also can make the customizing model that mates with specific final user or application.

In case the control system that has been specific wig configuration just can activate robot 1, begins to use the robot wig construction.During this process, robot searches hair 16 from supplying to send out district 15, and hair 16 is attached to the home position of promptly implanting on the lining cap 2.

Can arrange and dispose with any amount of different mode for sending out district 15.In one exemplary embodiment, for sending out district's 15 arrays that for example are configured to by a n * n of color and length tissue.In this illustrative example, the row of array is by the color tissue, and row are by the length tissue.Yet, should see, in organization scheme, can comprise other hair characteristics, such as the people send out, synthetic send out, the animal wool, thickness.To carrying out any amount of various modification, to adapt to other criterions for sending out district 15.In addition, should see that the hair of used any kind can use in the present invention equally in the conventional wig construction.

The position of hair 16 in array and arrangement are generally just enrolled in the ROBOT CONTROL system with program in advance.This information will depend on the configuration in a confession district 15 and change.For example, in one exemplary embodiment, control system is programmed to prediction hair 16 deposits along the direction parallel with its direction of searching.Use this information, robot 1 can search automatically and finish the required hair 16 of wig configuration that robot operator is imported.

As explained above such, for example, robot 1 can be equipped with two video cameras on the top of receiving at least one robots arm 7.The visual field of video camera is provided for control system, and control system uses this information Recognition to leave in for the various single hair of sending out in the district 15.In case identify the single hair of being concerned about 16, control system just orders the executive item of receiving on the robots arm 75 to search this hair 16.

After executive item 5 was obtained hair 16, robots arm 7 moved to executive item 5 position of a contiguous lining cap 2.Use any amount of various technology, control system is operated automatically to move this executive item 5 in the robot mode, and this hair 16 is attached on the lining cap 2.As explained above like that, executive item 5 can comprise hook 6, pin or any with hair 16 be attached to other mechanical devices on the lining cap 2 or instrument at least one of them.In one exemplary embodiment, control system is by coming mobile executive item 5 adhering to hair 16 in imitation mode of used artificial " latch needles pinhock " technology in the wig construction of routine, yet also can use any attachment techniques when hair 16 is attached to when serving as a contrast on the cap 2.In addition, executive item 5 can be equipped with tool storage room or array of tools, its can hair 16 is attached to the lining cap 2 on the time dispatched automatically.

Can finish the robot process that this hair is searched and adhered to repeatedly; reach acceptable state until wig construction processes. robot operator can use-case video camera and display system 10 monitor compilation processes as previously mentioned. if desired; the operator can regularly suspend this process; and check lining cap 2 and wig; finish just on demand with the assurance process. if necessary; can make amendment with control system. for example; any point during wig construction processes; the operator can suspend robot 1; and carry out reciprocation with control system; to revise hair color; quality; arrange; quality and/or any other variable. as an alternative, control system can be revised when robot 1 is operated temporarily.

Above these specific embodiments that disclose are exemplary, and for the those skilled in the art who obtains instruction of the present invention, clearly the present invention can the mode of equivalence be revised and implemented with some differences.In addition, except as described in following claims, the structure that goes out shown here or the concrete condition of design are not restrictive.Obviously, more than these specific embodiments of being disclosed can be changed or be revised, and all such distortion all should be thought and belong within spirit of the present invention and the scope of patent protection.

Claims

1. the method for a wig construction comprises:

(a) at least one executive item that will be connected on the robots arm of robot is positioned to contiguous wig lining cap; And

(b) operate this executive item, serve as a contrast on the cap at least one hair is fixedly attached to wig,

By ROBOT CONTROL device registration, and described registration obtains via triangulation technique by at least two video cameras wherein said wig lining cap with respect to the three-dimensional position of executive item.

2. the method for claim 1, wherein said at least one hair is attached on the wig lining cap by latch needles pinhock technology.

3. the method for claim 1, wherein said executive item also comprises more than one mechanical devices.

4. the method for a wig construction comprises:

(a) determine the three-dimensional position of wig lining cap with respect at least one executive item on the robots arm who is connected to robot;

(b) operation executive item is from searching at least one hair for sending out the district; And

(c) operation executive item will be from being fixedly attached on the wig lining cap by the robot controller appointed positions for sending out this at least one hair of searching in the district.

5. method as claimed in claim 4, wherein said at least one hair is attached on the wig lining cap by latch needles pinhock technology.

6. method as claimed in claim 4, the three-dimensional position of wherein said wig lining cap is determined by the video registration technology.

7. method as claimed in claim 6, the position of wherein said wig lining cap behind the video registration shows on monitor as image.

8. second image that method as claimed in claim 7, wherein said image are expressed the final user of wig covers.

9. method as claimed in claim 4 is wherein held the three-dimensional position that general connector that frame is positioned at the precalculated position is determined described wig lining cap by using at least one that wig is served as a contrast hat holder.

10. method as claimed in claim 4, wherein said executive item also comprises more than one mechanical devices.

11. method as claimed in claim 10, wherein said more than one mechanical devices can be exchanged automatically and can co-operating, are used in the robot mode at least one hair being attached to wig lining cap.

12. the method for a wig construction comprises:

(a) with the three-dimensional position of ROBOT CONTROL device registration wig lining cap with respect at least one executive item on the robots arm who is connected to robot;

(b) colocated is carried out in some positions that are marked at least one fiducial mark on the model and the wig lining cap;

(c) operation executive item is so that from searching at least one hair for sending out the district; And

(d) operation executive item, so that will be from be fixedly attached to the position that is positioned at a position on the wig lining cap for this at least one hair that the district searches, a described position be specified to the distance of the position of the colocated of this at least one fiducial mark recently by this position.

13. method as claimed in claim 12, wherein said at least one hair is attached on the wig lining cap by latch needles pinhock technology.

14. method as claimed in claim 12, wherein said model are to be used for being the individuality of its wig construction.

15. method as claimed in claim 12, wherein said executive item also comprises more than one mechanical devices.

16. method as claimed in claim 15, wherein said more than one mechanical devices can be exchanged automatically and can co-operating, are used in the robot mode hair being adhered to being tied to wig lining cap.

17. method as claimed in claim 12, the three-dimensional position of wherein said wig lining cap comes registration by the video registration technology.

18. method as claimed in claim 17, the position of wherein said wig lining cap behind the video registration shows on monitor as realtime graphic.

19. method as claimed in claim 18, wherein said image are expressed the final user's of wig second image and cover.

20. method as claimed in claim 19, described second image that wherein covers is used for planning or instructing the establishment of wig.